- Improvements for moving-base RTK solution

- Make baseline constraint independent of moving-base mode
- Add option to specify baseline constraint on command line in rnx2rtkp
- Add option to run RTKRCV with no console
- Add option in defines to RTKPOS to skip initial standard precision estimates to increase run speed
- Minor cleanup

app/consapp/rnx2rtkp/gcc/makefile

@@ -8,8 +8,8 @@ OPTS    = -DTRACE -DENAGLO -DENAQZS -DENAGAL -DENACMP -DENAIRN -DNFREQ=3 -DNEXOB
 
 # for no lapack
 CFLAGS  = -Wall -O3 -ansi -pedantic -Wno-unused-but-set-variable -I$(SRC) $(OPTS) -pg
-#LDLIBS  = -lm -lrt
-LDLIBS  = -lgfortran -lm -lrt -pg
+LDLIBS  = -lm
+#LDLIBS  = -lgfortran -lm -lrt -pg
 
 #CFLAGS  = -Wall -O3 -ansi -pedantic -Wno-unused-but-set-variable -I$(SRC) -DLAPACK $(OPTS)
 #LDLIBS  = -lm -lrt -llapack -lblas

app/consapp/rnx2rtkp/rnx2rtkp.c

@@ -58,6 +58,7 @@ static const char *help[]={
 " -c        forward/backward combined solutions [off]",
 " -i        instantaneous integer ambiguity resolution [off]",
 " -h        fix and hold for integer ambiguity resolution [off]",
+"-bl bl,blstd baseline dist and stdev",
 " -e        output x/y/z-ecef position [latitude/longitude/height]",
 " -a        output e/n/u-baseline [latitude/longitude/height]",
 " -n        output NMEA-0183 GGA sentence [off]",
@@ -161,6 +162,9 @@ int main(int argc, char **argv)
         else if (!strcmp(argv[i],"-a")) solopt.posf=SOLF_ENU;
         else if (!strcmp(argv[i],"-n")) solopt.posf=SOLF_NMEA;
         else if (!strcmp(argv[i],"-g")) solopt.degf=1;
+        else if (!strcmp(argv[i],"-bl")&&i+2<argc) {
+            for (j=0;j<2;j++) prcopt.baseline[j]=atof(argv[++i]);
+        }
         else if (!strcmp(argv[i],"-r")&&i+3<argc) {
             prcopt.refpos=prcopt.rovpos=0;
             for (j=0;j<3;j++) prcopt.rb[j]=atof(argv[++i]);

app/consapp/rtkrcv/rtkrcv.c

@@ -129,6 +129,7 @@ static const char *usage[]={
     "usage: rtkrcv [-s][-p port][-d dev][-o file][-w pwd][-r level][-t level][-sta sta]",
     "options",
     "  -s         start RTK server on program startup",
+    "  -nc        start RTK server on program startup with no console",
     "  -p port    port number for telnet console",
     "  -m port    port number for monitor stream",
     "  -d dev     terminal device for console",
@@ -420,8 +421,10 @@ static int startsvr(vt_t *vt)
         else cmds_periodic[i]=s2[i];
     }
     /* confirm overwrite */
-    for (i=3;i<8;i++) {
-        if (strtype[i]==STR_FILE&&!confwrite(vt,strpath[i])) return 0;
+    if (vt!=NULL) {
+        for (i=3;i<8;i++) {
+            if (strtype[i]==STR_FILE&&!confwrite(vt,strpath[i])) return 0;
+        }
     }
     if (prcopt.refpos==4) { /* rtcm */
         for (i=0;i<3;i++) prcopt.rb[i]=0.0;
@@ -1362,7 +1365,7 @@ static void *con_thread(void *arg)
     }
 
     /* auto start if option set */
-    if (start) {
+    if (start&1) { /* start with console */
         cmd_start(args,narg,con->vt);
         start=0;
     }
@@ -1633,7 +1636,8 @@ int main(int argc, char **argv)
     char *dev="",file[MAXSTR]="";
 
     for (i=1;i<argc;i++) {
-        if      (!strcmp(argv[i],"-s")) start=1;
+        if      (!strcmp(argv[i],"-s")) start|=1; /* console */
+        else if (!strcmp(argv[i],"-nc")) start|=2; /* no console */
         else if (!strcmp(argv[i],"-p")&&i+1<argc) port=atoi(argv[++i]);
         else if (!strcmp(argv[i],"-m")&&i+1<argc) moniport=atoi(argv[++i]);
         else if (!strcmp(argv[i],"-d")&&i+1<argc) dev=argv[++i];
@@ -1681,8 +1685,9 @@ int main(int argc, char **argv)
             traceclose();
             return -1;
         }
-    }
-    else {
+    } else if (start&2) { /* start without console */
+        startsvr(NULL); 
+    } else  {  
         /* open device for local console */
         if (!(con[0]=con_open(0,dev))) {
             fprintf(stderr,"console open error dev=%s\n",dev);

app/winapp/rtkplot/plotmain.cpp

@@ -97,6 +97,11 @@ __fastcall TPlot::TPlot(TComponent* Owner) : TForm(Owner)
         SolStat[i]=solstat0;
         SolIndex[i]=0;
     }
+
+    obs0.data=NULL; obs0.n =obs0.nmax =0;
+    nav0.eph =NULL; nav0.n =nav0.nmax =0;
+    nav0.geph=NULL; nav0.ng=nav0.ngmax=0;
+    nav0.seph=NULL; nav0.ns=nav0.nsmax=0;
     ObsIndex=0;
     Obs=obs0;
     Nav=nav0;

app/winapp/rtkpost/postmain.cpp

@@ -975,7 +975,7 @@ int __fastcall TMainForm::GetOption(prcopt_t &prcopt, solopt_t &solopt,
     solopt.sstat    =DebugStatus;
     solopt.trace    =DebugTrace;
     strcpy(solopt.sep,FieldSep!=""?FieldSep.c_str():" ");
-    sprintf(solopt.prog,"%s ver.%s %s",PRGNAME,VER_RTKLIB,PATCH_LEVEL);
+    sprintf(solopt.prog,"%s %s %s",PRGNAME,VER_RTKLIB,PATCH_LEVEL);
 
     // file options
     strcpy(filopt.satantp,SatPcvFile.c_str());

app/winapp/rtkpost/postopt.cpp

@@ -532,12 +532,11 @@ void __fastcall TOptDialog::SetOpt(void)
 	MainForm->GainHoldAmb 	=str2dbl(GainHoldAmb->Text);
 	MainForm->SlipThres   	=str2dbl(SlipThres  ->Text);
 	MainForm->DopThres   	=str2dbl(DopThres  ->Text);
-	//MainForm->ARIter	  	=ARIter		  ->Text.ToInt();
 	MainForm->NumIter	  	=NumIter	  ->Text.ToInt();
 	MainForm->MinFixSats	=MinFixSats	  ->Text.ToInt();
 	MainForm->MinHoldSats	=MinHoldSats  ->Text.ToInt();
 	MainForm->MinDropSats	=MinDropSats  ->Text.ToInt();
-    MainForm->ARFilter      =ARFilter   ->ItemIndex;
+	MainForm->ARFilter      =ARFilter     ->ItemIndex;
 	MainForm->MaxPosVarAR	=str2dbl(MaxPosVarAR->Text);
 	MainForm->BaseLine[0]  	=str2dbl(BaselineLen->Text);
 	MainForm->BaseLine[1]  	=str2dbl(BaselineSig->Text);
@@ -849,7 +848,7 @@ int ppp=PosMode->ItemIndex>=PMODE_PPP_KINEMA;
 	prcopt.mindropsats=str2dbl(MinDropSats->Text);
 	prcopt.arfilter	=ARFilter->ItemIndex;
 	prcopt.niter	=str2dbl(NumIter	->Text);
-	if (prcopt.mode==PMODE_MOVEB&&BaselineConst->Checked) {
+	if (BaselineConst->Checked) {
 		prcopt.baseline[0]=str2dbl(BaselineLen->Text);
 		prcopt.baseline[1]=str2dbl(BaselineSig->Text);
 	}
@@ -970,9 +969,9 @@ void __fastcall TOptDialog::UpdateEnable(void)
 	MinDropSats    ->Enabled=rel;
 	MaxPosVarAR    ->Enabled=ar&&!ppp;
 	ARFilter       ->Enabled=ar;
-	BaselineConst  ->Enabled=PosMode->ItemIndex==PMODE_MOVEB;
-	BaselineLen    ->Enabled=BaselineConst->Checked&&PosMode->ItemIndex==PMODE_MOVEB;
-	BaselineSig    ->Enabled=BaselineConst->Checked&&PosMode->ItemIndex==PMODE_MOVEB;
+	BaselineConst  ->Enabled=rel;
+	BaselineLen    ->Enabled=BaselineConst->Checked;
+	BaselineSig    ->Enabled=BaselineConst->Checked;
 
 	OutputHead     ->Enabled=SolFormat->ItemIndex<3;
 	OutputOpt      ->Enabled=SolFormat->ItemIndex<3;

app/winapp/rtkpost/rtkpost.cbproj

@@ -68,7 +68,7 @@
         <ILINK_LinkwithRegEx>false</ILINK_LinkwithRegEx>
         <ILINK_LinkwithIntebaseTogo>false</ILINK_LinkwithIntebaseTogo>
         <SanitizedProjectName>rtkpost</SanitizedProjectName>
-        <IncludePath>..\..\..\src\;..\appcmn\;..\..\src\;$(IncludePath)</IncludePath>
+        <IncludePath>..\..\..\src\;..\appcmn\;$(IncludePath)</IncludePath>
         <ILINK_LibraryPath>..\..\..\src\;..\appcmn\;..\..\..\lib\openblas;$(ILINK_LibraryPath)</ILINK_LibraryPath>
         <BCC_waus>false</BCC_waus>
         <BCC_weff>false</BCC_weff>
@@ -147,7 +147,7 @@
         <BT_BuildType>Debug</BT_BuildType>
     </PropertyGroup>
     <PropertyGroup Condition="'$(Cfg_1_Win64)'!=''">
-        <BCC_Defines>_Debug;$(BCC_Defines);$(BCC_Defines)</BCC_Defines>
+        <BCC_Defines>NDEBUG;$(BCC_Defines);$(BCC_Defines)</BCC_Defines>
         <AppEnableRuntimeThemes>true</AppEnableRuntimeThemes>
         <LinkPackageStatics>rtl.lib;vcl.lib;vclx.lib</LinkPackageStatics>
         <VerInfo_IncludeVerInfo>true</VerInfo_IncludeVerInfo>

src/postpos.c

@@ -490,17 +490,19 @@ static void procpos(FILE *fp, FILE *fptm, const prcopt_t *popt, const solopt_t *
     free(obs_ptr); /* moved from stack to heap to kill a stack overflow warning */
 }
 /* validation of combined solutions ------------------------------------------*/
-static int valcomb(const sol_t *solf, const sol_t *solb)
+static int valcomb(const sol_t *solf, const sol_t *solb, double *rbf,
+        double *rbb, const prcopt_t *popt)
 {
     double dr[3],var[3];
     int i;
     char tstr[32];
 
-    trace(3,"valcomb :\n");
+    trace(4,"valcomb :\n");
 
     /* compare forward and backward solution */
     for (i=0;i<3;i++) {
         dr[i]=solf->rr[i]-solb->rr[i];
+        if (popt->mode==PMODE_MOVEB) dr[i]-=(rbf[i]-rbb[i]);
         var[i]=(double)solf->qr[i] + (double)solb->qr[i];
     }
     for (i=0;i<3;i++) {
@@ -553,7 +555,7 @@ static void combres(FILE *fp, FILE *fptm, const prcopt_t *popt, const solopt_t *
                 sols.stat==SOLQ_FIX) {
 
                 /* degrade fix to float if validation failed */
-                if (!valcomb(solf+i,solb+j)) sols.stat=SOLQ_FLOAT;
+                if (!valcomb(solf+i,solb+j,rbf+i*3,rbb+j*3,popt)) sols.stat=SOLQ_FLOAT;
             }
             for (k=0;k<3;k++) {
                 Qf[k+k*3]=solf[i].qr[k];

src/preceph.c

@@ -98,7 +98,7 @@ static int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
             }
         }
         else if (i==2*nl+2) {/* %c */
-            strncpy(tsys,buff+9,3); tsys[3]='\0';
+            memcpy(tsys,buff+9,3); tsys[3]='\0';
         }
         else if (i==2*nl+4) {/* %f */
             bfact[0]=str2num(buff, 3,10);

src/rinex.c

@@ -655,7 +655,7 @@ static int readrnxh(FILE *fp, double *ver, char *type, int *sys, int *tsys,
 
     trace(3,"readrnxh:\n");
 
-    *ver=2.10; *type=' '; *sys=SYS_GPS;
+    *ver=2.10; *type=' '; *sys=SYS_GPS; *tsys=TSYS_GPS;
 
     while (fgets(buff,MAXRNXLEN,fp)) {
 
@@ -1521,7 +1521,7 @@ static int readrnxclk(FILE *fp, const char *opt, int index, nav_t *nav)
             trace(2,"rinex clk invalid epoch: %34.34s\n",buff);
             continue;
         }
-        strncpy(satid,buff+3,4);
+        memcpy(satid,buff+3,4);
 
         /* only read AS (satellite clock) record */
         if (strncmp(buff,"AS",2)||!(sat=satid2no(satid))) continue;

src/rtklib.h

@@ -408,7 +408,6 @@ extern "C" {
 #define TROPOPT_SBAS 2                  /* troposphere option: SBAS model */
 #define TROPOPT_EST 3                   /* troposphere option: ZTD estimation */
 #define TROPOPT_ESTG 4                  /* troposphere option: ZTD+grad estimation */
-#define TROPOPT_ZTD 5                   /* troposphere option: ZTD correction */
 
 #define EPHOPT_BRDC 0                   /* ephemeris option: broadcast ephemeris */
 #define EPHOPT_PREC 1                   /* ephemeris option: precise ephemeris */
@@ -420,8 +419,6 @@ extern "C" {
 #define ARMODE_CONT 1                   /* AR mode: continuous */
 #define ARMODE_INST 2                   /* AR mode: instantaneous */
 #define ARMODE_FIXHOLD 3                /* AR mode: fix and hold */
-#define ARMODE_WLNL 4                   /* AR mode: wide lane/narrow lane */
-#define ARMODE_TCAR 5                   /* AR mode: triple carrier ar */
 
 #define GLO_ARMODE_OFF  0               /* GLO AR mode: off */
 #define GLO_ARMODE_ON 1                 /* GLO AR mode: on */
@@ -1140,7 +1137,7 @@ typedef struct {        /* satellite status type */
     uint8_t vsat[NFREQ]; /* valid satellite flag */
     uint16_t snr_rover [NFREQ]; /* rover signal strength (0.25 dBHz) */
     uint16_t snr_base  [NFREQ]; /* base signal strength (0.25 dBHz) */
-    uint8_t fix [NFREQ]; /* ambiguity fix flag (1:fix,2:float,3:hold) */
+    uint8_t fix [NFREQ]; /* ambiguity fix flag (1:float,2:fix,3:hold) */
     uint8_t slip[NFREQ]; /* cycle-slip flag */
     uint8_t half[NFREQ]; /* half-cycle valid flag */
     int lock [NFREQ];   /* lock counter of phase */